Backup pin identification method

Abstract

This backup pin discrimination method is applied to a component mounting machine that is equipped with a camera capable of capturing a monochrome image of an object and a light source unit capable of irradiating the object with multiple primary color light rays, and that is for mounting a component to a substrate while supporting the substrate by backup pins from underneath. The method involves: acquiring multiple images by disposing the backup pins, which have colors different for each type, at locations where images of the backup pins can be captured by the camera, and capturing, by the camera, images of the backup pins in a state of being irradiated with the respective primary color light rays from the light source unit; acquiring, from the respective images, primary color luminance values corresponding to the respective primary color light rays used for irradiation at the time of capturing said images; and identifying colors on the basis of the acquired multiple primary color light luminance values, thereby discriminating the types of the backup pins on the basis of the identified colors.

Description

Technical Field

[0001] This specification discloses a method for discriminating backup pins.

Background Art

[0002] Conventionally, a method for discriminating the type of backup pins applied to a component mounter for mounting components on a substrate is known. For example, in Patent Document 1, an image of a backup pin is captured, and by processing the image, it is determined whether a predetermined color is applied to the backup pin to discriminate whether it is a hard backup pin or a soft backup pin.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, since the image may contain various noises depending on the imaging conditions, simply recognizing the color may not accurately discriminate the type of backup pin.

[0005] The main object of the present disclosure is to enable more accurate discrimination of the type of backup pin.

[0006] In the present disclosure, the following means are adopted to achieve the above main object.

Means for Solving the Problems

[0007] The method for discriminating backup pins of the present disclosure is A backup pin identification method applied to a component mounting machine that mounts components onto a substrate while the substrate is supported from below by backup pins, the machine having a camera capable of capturing a monochrome image of the object and a light source unit capable of irradiating the object with multiple primary color lights, wherein the substrate is supported from below by backup pins. Backup pins, each having a different color depending on the type, are placed in a location where they can be imaged by the camera. Multiple images are acquired by capturing images of the backup pins with the camera in each state when the backup pins are illuminated with each of the multiple primary color lights from the light source unit. From each of the aforementioned multiple images, the primary color luminance value corresponding to the primary color light irradiated when the image was captured is obtained. Based on the acquired multiple primary color luminance values, the color is identified. The type of backup pin is determined based on the identified color. This is the gist of it.

[0008] The backup pin identification method disclosed herein identifies the color corresponding to the irradiated primary light from each of multiple images, thus enabling accurate color identification even if the images contain noise or other imperfections. Therefore, the type of backup pin can be determined more accurately. [Brief explanation of the drawing]

[0009] [Figure 1] This is a schematic diagram of the component mounting machine 10. [Figure 2] This is a schematic diagram of the substrate transport device 13 and the clamping device 20. [Figure 3] This is a schematic diagram of the backup pin 30. [Figure 4] This is a schematic diagram of the backup pin stocker 35. [Figure 5] This is a schematic diagram of the head 40. [Figure 6A] This is a schematic diagram of the suction nozzle 50. [Figure 6B] This is a schematic diagram of the Pikka nozzle 55. [Figure 7]It is a schematic configuration diagram of the mark camera 70. [Figure 8A] It is an A view of the epi-illumination light source 73. [Figure 8B] It is a B view of the side-illumination light source 75. [Figure 9] It is a block diagram showing the electrical connection relationship of the component mounter 10. [Figure 10] It is a flowchart showing an example of the backup pin arrangement processing routine. [Figure 11] It is a flowchart showing an example of the luminance acquisition processing subroutine. [Figure 12] It is an explanatory diagram for obtaining primary color luminance values in the image Im1 when irradiated with red light, the image Im2 when irradiated with green light, and the image Im3 when irradiated with blue light. [Figure 13] It is a flowchart showing an example of the first color discrimination processing subroutine. [Figure 14] It is a flowchart showing an example of the second color discrimination processing subroutine. [Figure 15] It is a flowchart showing an example of the third color discrimination processing subroutine.

Mode for Carrying Out the Invention

[0010] Next, embodiments for implementing the present disclosure will be described while referring to the drawings.

[0011] FIG. schematically shows the configuration of the component mounter 10. FIG. 2 schematically shows the configurations of the substrate transfer device 13 and the clamp device 20. FIG. 3 schematically shows the configuration of the backup pin 30. FIG. 4 schematically shows the configuration of the backup pin stocker 35. FIG. 5 schematically shows the configuration of the head 40. FIG. 6A schematically shows the configuration of the suction nozzle 50. FIG. 6B schematically shows the configuration of the pick-up nozzle 55. FIG. 7 schematically shows the configuration of the mark camera 70. FIG. 8A is an A view of the epi-illumination light source 73. FIG. 8B is a B view of the side-illumination light source 75. FIG. 9 is a block diagram showing the electrical connection relationship of the component mounter 10.

[0012] The component mounting machine 10 is a device that receives the supply of components P from the feeder 12 and mounts them on the substrate S. As shown in FIG. 1, the component mounting machine 10 includes a substrate transfer device 13, a clamp device 20, a backup pin stocker 35, a head 40, a head moving device 60, a mark camera 70, a parts camera 78, a nozzle stocker 79, and a control device 90 (see FIG. 9).

[0013] The feeder 12 is detachably attached to a feeder base (not shown) installed at the front of the component mounting machine 10. The feeder 12 is, for example, a tape feeder, and includes a carrier tape in which components are respectively accommodated in a plurality of cavities formed at predetermined intervals, a reel around which the carrier tape is wound, and a tape feeding device that unwinds and feeds out the carrier tape from the reel.

[0014] As shown in FIG. 2, the substrate transfer device 13 is a belt conveyor device that transfers the substrate S by means of a conveyor belt 14. The substrate transfer device 13 includes a pair of side frames F arranged at a predetermined interval in the Y-axis direction, conveyor belts 14 provided on each of the pair of side frames F, and a belt driving device 15 (see FIG. 9) that drives the conveyor belt 14 to circulate. The pair of side frames F are respectively supported by two support columns 16 arranged in the X-axis direction. Note that rail moving devices 19 that are movable on guide rails 18 provided along the Y-axis direction on support bases 17 are attached to the lower ends of the two support columns 16 that support one of the pair of side frames F (the rear side frame F in the figure). The substrate transfer device 13 can transfer substrates S of different sizes by moving the two support columns 16 to adjust the interval between the pair of side frames F.

[0015] As shown in Figure 2, the clamping device 20 is a device that holds the edge of the substrate S by clamping it with two members (substrate holding plate 21 and clamper 22) and also supports the substrate S from the back side. This clamping device 20 comprises a pair of substrate holding plates 21, a pair of clampers 22, and a clamper lifting device 25 (see Figure 9) that raises and lowers the pair of clampers 22 via a backup plate 24 driven by a motor 23 (see Figure 9). The backup plate 24 is a flat plate member made of a magnetic material, extending in the front-to-back direction and having an installation surface on its upper surface where backup pins 30 can be installed. Multiple backup pins 30 are fixed (adsorbed) to the backup plate 24. Multiple through holes 24a that penetrate vertically are formed at the front end of the backup plate 24. The clamper 22 has a projection 22a that protrudes downward from its lower end surface. When the backup plate 24 is raised by the clamper lifting device 25, the upper surface of the backup plate 24 comes into contact with the projection 22a and is pushed up. The substrate S is transported by driving the conveyor belt 14 in a circular motion while it is placed on the conveyor belt 14 (see Figure 2). When the clamper 22 is raised while the substrate S is on the conveyor belt 14, the clamper 22 pushes the substrate S up and presses it against the substrate holding plate 21, while the back side is supported from below by the backup pins 30. As a result, the substrate S is sandwiched between the clamper 22 and the substrate holding plate 21 and its back side is supported by the backup pins 30.

[0016] The backup pin 30 is a component that supports the substrate S from the back side when the substrate S is held by the substrate retaining plate 21 and the clamper 22 by clamping the edge of the substrate S. The backup pin 30 is used in a state where it is fixed to the backup plate 24. As shown in Figure 3, the backup pin 30 comprises a pin body 31 that extends vertically in an upright position and whose tip is smaller in diameter than the base, a flat support surface 32 formed at the tip of the pin body 31, and a permanent magnet 33 embedded in the bottom of the pin body 31. As described above, the backup plate 24 is made of a magnetic material, and when the backup pin 30 is installed on the backup plate 24, it is fixed (adsorbed) to the backup plate 24 in an upright position by the magnetic attraction of the permanent magnet 33. Furthermore, the outer circumferential surface of the tip of the backup pin 30 has a plurality (3) of engaging parts 34 (projections) that protrude radially at predetermined angular intervals (for example, 120°) in the circumferential direction. In the component mounting machine 10, backup pins 30 of a type corresponding to the type of component mounting machine 10 are used. The height H of the backup pins 30 differs for each type. In addition, the pin body 31 of the backup pin 30 is colored according to the type (height H). The colors used to color the pin body 31 are one of the three primary colors (red, green, and blue) or additive colors of any two of the three primary colors (yellow, cyan, and magenta).

[0017] The backup pin stocker 35 stores backup pins 30 that are not used to support the substrate S from the back side in the substrate transport device 13. The backup pin stocker 35 is located below a plurality of through holes 24a formed in the front end of the backup plate 24. It has projections 36, a base 37 on which the plurality of projections 36 are fixed at regular intervals, and a base lifting device 38 that raises and lowers the base 37. In this embodiment, the projections 36 are made of a magnetic material. When a backup pin 30 is placed on a projection 36, it is fixed (held) in an upright position on the projection 36 by the magnetic attraction of a permanent magnet 33 embedded in the bottom. The projections 36 are provided on the upper surface of the base 37 at locations directly below the corresponding through holes 24a. The base lifting device 38 is composed of an air cylinder device and a ball screw device and raises and lowers the base 37 between a position where the upper surface of the base 37 contacts the bottom surface of the backup plate 24 and a position where they are separated. The projection 36 has a height approximately the same as the thickness of the backup plate 24. When the base 37 rises to its upper limit, the bottom surface of the backup pin stocker 35, which is placed on the projection 36, rises to approximately the same height as the upper surface of the backup plate 24. Also, when the base 37 lowers to its lower limit, the backup pin stocker 35, which is placed on the projection 36, lowers until part or all of the backup pin stocker 35 is positioned below the backup plate 24.

[0018] As shown in Figure 5, the head 40 is, for example, a rotary head and comprises a head body 42 with a plurality of holders 41 arranged in the circumferential direction, an R-axis actuator 43 that rotates the head body 42 (revolves around the holders 41), a θ-axis actuator 44 that rotates the holders 41 (rotates on its own axis), and a Z-axis actuator 45 that moves the holders 41 up and down. A suction nozzle 50 or a picker nozzle 55 is interchangeably attached to the tip of the holder 41.

[0019] As shown in Figure 6A, the suction nozzle 50 includes a mounting portion 52 provided at the base end and inserted into the holder 41 for attachment, and a sampling portion 53 provided at the tip end for collecting parts. The sampling portion 53 is a cylindrical member and collects parts by suction when negative pressure is introduced from a negative pressure source (not shown).

[0020] The picker nozzle 55 is a nozzle capable of picking up backup pins 30, and as shown in Figure 6B, it includes a mounting portion 56 formed in the same shape as the mounting portion 52 described above which is attached to the holder 41, and a picking portion 57 provided at the tip for picking up backup pins 30. The picking portion 57 has a plurality (3) of engaged portions 58 that engage with each of the engaging portions 34 (protruding portions) of the backup pin 30. The plurality of engaged portions 58 are hook-shaped members including a hook tip portion 58a and a hook recess portion 58b. Each engaged portion 58 is formed such that the hook tip portion 58a faces one side in the circumferential direction at predetermined angular intervals (e.g., 120°) in the circumferential direction. The picker nozzle 55 picks up the backup pin 30 by inserting the engaging portion 34 (protruding portion) of the backup pin 30 into the gap 58c between the engaged portions 58 (hook portions) in the circumferential direction and hooking it onto the hook recess portion 58b.

[0021] As shown in Figure 1, the head moving device 60 includes a pair of left and right Y-axis guide rails 61 extending front to back from the upper part of the housing 11, a Y-axis slider 62 spanning the pair of Y-axis guide rails 61, an X-axis guide rail 63 extending left to right from the front of the Y-axis slider 62, and an X-axis slider 64 mounted on the X-axis guide rail 63. The X-axis slider 64 is driven by an X-axis actuator 65 (see Figure 9), and the Y-axis slider 62 is driven by a Y-axis actuator 66 (see Figure 9). The head 40 is attached to the X-axis slider 64 and moves front to back, left to right, and right by the drive of the X-axis actuator 65 and the Y-axis actuator 66.

[0022] The mark camera 70 is mounted on the X-axis slider 64 and captures images of reference marks on the circuit board S from above, as well as images of backup pins 30 on the backup plate 24 and in the backup pin stocker 35 from above, and transmits the captured images to the control device 90. The control device 90 processes the captured images to recognize the position of the circuit board S and the position of the backup pins 30.

[0023] As shown in Figure 7, the Mark Camera 70 includes a light source unit 71 and a camera body 77. The light source unit 71 includes a housing 72, an incident light source 73, a half mirror 74, and a side light source 75. The housing 72 is a cylindrical member with an opening on its lower surface and is mounted below the camera body 77.

[0024] As shown in Figure 7, the incident light source 73 is provided on the inner side of the housing 72. As shown in Figure 8A, the incident light source 73 consists of an equal or nearly equal number of red LEDs 73a emitting monochromatic R (red), green LEDs 73b emitting monochromatic G (green), and blue LEDs 73c emitting monochromatic B (blue) on a rectangular support plate 73d. Each LED 73a to 73c has a rectangular base with a light-emitting element in the center, and a hemispherical lens is attached to cover the light-emitting element. In this embodiment, as shown in Figure 8A, one of the blue LEDs 73c is located in the center of the arrangement. This is because the blue LED 73c has a weaker light output compared to the other red LEDs 73a and green LEDs 73b. By positioning one of the blue LEDs 73c in the center of the arrangement, it is possible to compensate for insufficient light output when illuminating an object and suppress variations in light output for each color. The half-mirror 74 is positioned diagonally inside the housing 72. The half-mirror 74 reflects the horizontal light from each of the LEDs 73a, 73b, and 73c of the incident light source 73 downwards. The half-mirror 74 also transmits light from below toward the camera body 77.

[0025] As shown in Figure 7, the side-emitting light source 75 is positioned horizontally near the lower opening of the housing 72. As shown in Figure 8B, the side-emitting light source 75 consists of an equal or nearly equal number of red LEDs 75a, green LEDs 75b, and blue LEDs 75c arranged on a ring-shaped support plate 75d, and emits light downwards. Each LED 75a to 75c has a rectangular base with a light-emitting element in the center, and a hemispherical lens is attached to cover the light-emitting element. A diffuser plate 76 is provided below the side-emitting light source 75 in the housing 72. The light emitted from the incident light source 73 and the side-emitting light source 75 is ultimately diffused by this diffuser plate 76 before being irradiated onto the object.

[0026] The camera body 77 is a monochromatic camera that generates a monochromatic image based on the received light. The camera body 77 includes an optical system such as a lens (not shown) and a monochrome image sensor (e.g., a monochrome CCD). When light emitted from the incident light source 73 and the side light source 75, reflected from the object, passes through the half mirror 74 and reaches the camera body 77, the camera body 77 receives this light and generates an image.

[0027] The wavelength ranges for each of the R, G, and B colors are not particularly limited, but for example, R may be set to 590-780 nm, G to 490-570 nm, and B to 400-490 nm.

[0028] The parts camera 78 is installed between the substrate transport device 13 and the feeder 12, and captures images of the parts picked up by the suction nozzle 50 from below and transmits them to the control device 90. The control device 90 processes the captured images to recognize suction errors and suction misalignments.

[0029] As shown in Figure 1, the nozzle stocker 79 is positioned between the feeder 12 and the substrate transport device 13 and houses multiple replacement nozzles. In this embodiment, the nozzle stocker 79 houses multiple types of suction nozzles 50 of different sizes, as well as the picker nozzles 55 described above. The nozzles mounted on the holder 41 are automatically replaced as needed based on the movement of the head 40 by the head moving device 60 and the raising and lowering of the holder 41 by the Z-axis actuator 45 relative to the nozzle stocker 79.

[0030] As shown in Figure 9, the control device 90 includes a CPU 91, ROM 92, RAM 93, storage (e.g., HDD or SSD) 94, and an input / output interface 95. These are electrically connected via a bus 96. Various signals from the X-axis position sensor that detects the position of the X-axis slider 64, the Y-axis position sensor that detects the position of the Y-axis slider 62, the Z-axis position sensor that detects the lifting position of the holder 41, the mark camera 70 (camera body 77), the parts camera 78, and other sources are input to the control device 90 via the input / output interface 95. On the other hand, various control signals to the feeder 12, belt drive device 15, rail moving device 19, clamp lifting device 25, base lifting device 38, R-axis actuator 43, θ-axis actuator 44, Z-axis actuator 45, X-axis actuator 65, Y-axis actuator 66, mark camera 70 (light source unit 71 and camera body 77), and parts camera 78 are output from the control device 90 via the input / output interface 95. The control device 90 is communicatively connected to a management computer (not shown), receives jobs from the management computer, and produces products by mounting components P onto a circuit board S according to the received jobs.

[0031] Next, the operation (production operation) of the component mounting machine 10 of this embodiment, as configured in this way, will be described. First, the mounting process of picking up components from the feeder 12 and mounting them onto the substrate S will be described. The CPU 91 of the control device 90 first controls the substrate transport device 13 so that the substrate S is brought into the machine. Next, the CPU 91 controls the clamper lifting device 25 so that the substrate S is sandwiched between the substrate holding plate 21 and the clamper 22 and supported by the backup pins 30 installed on the backup plate 24. Next, the CPU 91 controls the head moving device 60 so that the head 40 moves above the component supply position of the feeder 12. Then, the CPU 91 controls the Z-axis actuator 45 so that the suction nozzle 50 descends and picks up the component P supplied to the component supply position. Once the component P is picked up, the CPU 91 controls the head moving device 60 so that the picked up component P moves above the part camera 78. Then, the CPU 91 controls the part camera 78 so that the component P is imaged. Next, the CPU 91 processes the captured image to measure the suction misalignment of the component P and corrects the mounting position of the component P on the substrate S. Then, the CPU 91 controls the head movement device 60 so that the picked-up component P moves above the corrected mounting position, and controls the Z-axis actuator 45 so that the suction nozzle 50 descends and mounts the component P on the substrate S.

[0032] Next, the operation of automatically installing backup pins 30 on the backup plate 24 before the start of production will be explained using Figures 10 to 15. Figure 10 is a flowchart of an example of a backup pin installation processing routine. The backup pin installation process is executed when the system receives an instruction to start pre-preparation from a management computer (not shown) before executing the component mounting process described above. Normally, the backup pin stocker 35 stocks backup pins 30 of a height H that are compatible with the component mounting machine 10. However, due to reasons such as operator error, backup pins 30 that are not compatible with the component mounting machine 10 may be stocked. In this embodiment, the process of the component mounting machine 10 automatically determining whether the backup pins 30 stocked in the backup pin stocker 35 are compatible with its own machine and automatically placing the compatible backup pins 30 on the backup plate 24 will be explained as an example.

[0033] When the backup pin installation process is started, the CPU 91 first moves the head 40 above the nozzle stocker 79 using the head moving device 60 and attaches the picker nozzle 55 to the holder 41 (S100). Next, the CPU 91 obtains the width information of the substrate S and the arrangement layout information of the backup pins 30 from the management computer (S105). Then, the CPU 91 controls the rail moving device 19 so that the width of the substrate transport device 13 becomes the width corresponding to the substrate S based on the obtained width information of the substrate S (S110). Next, the CPU 91 controls the base lifting device 38 so that the base 37 rises to its upper limit (S115).

[0034] Next, the CPU 91 controls the X-axis actuator 65 and the Y-axis actuator 66 so that the mark camera 70 moves above the backup pins 30 housed in the backup pin stocker 35 (S120). Then, the CPU 91 executes the brightness acquisition processing subroutine shown in Figure 11 (S125). When the brightness acquisition processing subroutine is started, the CPU 91 lights up the red LED 73a of the incident light source 73 and the red LED 75a of the side light source 75 (S200), and controls the mark camera 70 (camera body 77) so that an image of the backup pins 30 is captured (S205). The image thus captured is called the red light illumination image Im1.

[0035] Next, the CPU 91 lights up the green LED 73b of the incident light source 73 and the green LED 75b of the side light source 75 (S210), and controls the mark camera 70 (camera body 77) so that an image of the backup pin 30 is captured (S215). The image captured in this way is called the green light illumination image Im2.

[0036] Next, the CPU 91 lights up the blue LED 73c of the incident light source 73 and the blue LED 75c of the side light source 75 (S220), and controls the mark camera 70 (camera body 77) so that an image of the backup pin 30 is captured (S225). The image captured in this way is called the blue light illumination image Im3.

[0037] Next, CPU91 obtains the red luminance R from the red light-illuminated image Im1 (S230). Specifically, as shown in Figure 12, CPU91 calculates the red luminance R as the average value of the red luminance in a predetermined region A near the center of the red light-illuminated image Im1. Then, similar to S230, CPU91 obtains the green luminance G from the green light-illuminated image Im2 (S235) and the blue luminance B from the blue light-illuminated image Im3 (S240). After S240, CPU91 terminates the luminance acquisition processing subroutine and proceeds to S130 of the backup pin placement processing shown in Figure 10.

[0038] Next, the CPU 91 determines whether the red brightness R is the minimum among the red brightness R, green brightness G, and blue brightness B (S130). If the red brightness R is the minimum, the CPU 91 executes the first color discrimination processing subroutine shown in Figure 13 (S135).

[0039] When the first color identification processing subroutine is started, the CPU 91 determines whether the difference between the green luminance G and the red luminance R is greater than a predetermined value α (S300). The predetermined value α is a value that is set in advance and is between 80 and 120 (for example, around 100) in 256 gradations. If the determination in S300 is positive, the CPU 91 determines that the green luminance G is a primary color luminance value used to determine the type (color) of the backup pin 30 (S305). On the other hand, if the determination in S300 is negative, the CPU 91 determines that the green luminance G is a primary color luminance value that is not used to determine the type (color) of the backup pin 30 (S310).

[0040] After S305 or S310, the CPU 91 determines whether the difference between the blue luminance B and the red luminance R is greater than a predetermined value α (S315). If the determination in S315 is positive, the CPU 91 determines that the blue luminance B is a primary color luminance value used to determine the type (color) of the backup pin 30 (S320). On the other hand, if the determination in S315 is negative, the CPU 91 determines that the blue luminance B is a primary color luminance value not used to determine the type (color) of the backup pin 30 (S325).

[0041] After S320 or S325, the CPU 91 determines whether the green luminance G and blue luminance B are primary color luminance values ​​used to determine the type (color) of the backup pin 30 (S330). If the determination in S330 is positive, the CPU 91 determines that the color of the backup pin 30 is cyan (S335). On the other hand, if the primary color luminance values ​​used to determine the type (color) of the backup pin 30 are neither green luminance G nor blue luminance B, the CPU 91 makes a negative determination in S330 and determines whether the green luminance G is a primary color luminance value used to determine the type (color) of the backup pin 30 (S340). If the determination in S340 is positive, the CPU 91 determines that the color of the backup pin 30 is green (S345).

[0042] On the other hand, if a negative determination is made in S340, the CPU 91 determines whether the blue luminance B is the primary color luminance value used to determine the type (color) of the backup pin 30 (S350). If a positive determination is made in S350, the CPU 91 determines that the color of the backup pin 30 is blue (S355). On the other hand, if a negative determination is made in S350, the CPU 91 determines that it cannot identify the color of the backup pin 30 (S360) and returns to S120 of the backup pin placement processing routine shown in Figure 10. After S335, after S345, or after S355, the CPU 91 terminates this subroutine and proceeds to S155 of the backup pin placement processing subroutine shown in Figure 10.

[0043] If a negative determination is made in S130 of the backup pin placement processing routine shown in Figure 10, the CPU 91 determines whether the green brightness G is the minimum among the red brightness R, green brightness G, and blue brightness B (S140). If the green brightness G is the minimum, the CPU 91 executes the second color discrimination processing subroutine shown in Figure 14 (S145).

[0044] When the second color identification processing subroutine is started, the CPU 91 determines whether the difference between the red luminance R and the green luminance G is greater than a predetermined value α (S400). If the determination in S400 is positive, the CPU 91 determines that the red luminance R is a primary color luminance value used to determine the type (color) of the backup pin 30 (S405). On the other hand, if the determination in S400 is negative, the CPU 91 determines that the red luminance R is a primary color luminance value not used to determine the type (color) of the backup pin 30 (S410).

[0045] After S405 or S410, the CPU 91 determines whether the difference between the blue luminance B and the green luminance G is greater than a predetermined value α (S415). If the determination in S415 is positive, the CPU 91 determines that the blue luminance B is a primary color luminance value used to determine the type (color) of the backup pin 30 (S420). On the other hand, if the determination in S415 is negative, the CPU 91 determines that the blue luminance B is a primary color luminance value not used to determine the type (color) of the backup pin 30 (S425).

[0046] After S420 or S425, the CPU 91 determines whether the red luminance R and blue luminance B are primary color luminance values ​​used to determine the type (color) of the backup pin 30 (S430). If the determination in S430 is positive, the CPU 91 determines that the color of the backup pin 30 is magenta (S435). On the other hand, if the primary color luminance values ​​used to determine the type (color) of the backup pin 30 are neither red luminance R nor blue luminance B, the CPU 91 makes a negative determination in S430 and determines whether the red luminance R is a primary color luminance value used to determine the type (color) of the backup pin 30 (S440). If the determination in S440 is positive, the CPU 91 determines that the color of the backup pin 30 is red (S445).

[0047] On the other hand, if a negative determination is made in S440, the CPU 91 determines whether or not the blue luminance B is the primary color luminance value used to determine the type (color) of the backup pin 30 (S450). If a positive determination is made in S450, the CPU 91 determines that the color of the backup pin 30 is blue (S455). On the other hand, if a negative determination is made in S450, the CPU 91 determines that it cannot identify the color of the backup pin 30 (S460) and returns to S120 of the backup pin placement processing routine shown in Figure 10. After S435, after S445, or after S455, the CPU 91 terminates this subroutine and proceeds to S155 of the backup pin placement processing subroutine shown in Figure 10.

[0048] If a negative determination is made in S140 of the backup pin placement processing routine shown in Figure 10, the CPU 91 determines that the blue brightness B is the smallest among the red brightness R, green brightness G, and blue brightness B, and executes the third color discrimination processing subroutine (S150).

[0049] When the third color identification processing subroutine is started, the CPU 91 determines whether the difference between the red luminance R and the blue luminance B is greater than a predetermined value α (S500). If the determination in S500 is positive, the CPU 91 determines that the red luminance R is a luminance value used to determine the type (color) of the backup pin 30 (S505). On the other hand, if the determination in S500 is negative, the CPU 91 determines that the red luminance R is a luminance value not used to determine the type (color) of the backup pin 30 (S510).

[0050] After S505 or S510, the CPU 91 determines whether the difference between the green brightness G and the blue brightness B is greater than a predetermined value α (S515). If the determination in S515 is positive, the CPU 91 determines that the green brightness G is a brightness value used to determine the type (color) of the backup pin 30 (S520). On the other hand, if the determination in S515 is negative, the CPU 91 determines that the green brightness G is a brightness value not used to determine the type (color) of the backup pin 30 (S525).

[0051] After S520 or S525, the CPU 91 determines whether the red luminance R and green luminance G are primary color luminance values ​​used to determine the type (color) of the backup pin 30 (S530). If the determination in S530 is positive, the CPU 91 determines that the color of the backup pin 30 is yellow (S535). On the other hand, if the primary color luminance values ​​used to determine the type (color) of the backup pin 30 are neither red luminance R nor green luminance G, the CPU 91 makes a negative determination in S530 and determines whether the red luminance R is a primary color luminance value used to determine the type (color) of the backup pin 30 (S540). If the determination in S540 is positive, the CPU 91 determines that the color of the backup pin 30 is red (S545).

[0052] On the other hand, if a negative determination is made in S540, the CPU 91 determines whether the green luminance G is the primary color luminance value used to determine the type (color) of the backup pin 30 (S550). If a positive determination is made in S550, the CPU 91 determines that the color of the backup pin 30 is green (S555). On the other hand, if a negative determination is made in S550, the CPU 91 determines that it cannot identify the color of the backup pin 30 (S560) and returns to S120 of the backup pin placement processing routine shown in Figure 10. After S535, after S545, or after S555, the CPU 91 terminates this subroutine and proceeds to S155 of the backup pin placement processing subroutine shown in Figure 10.

[0053] Next, the CPU 91 determines the type of backup pin 30 located below the mark camera 70 at the present time based on the color of the backup pin 30 determined in S135, S145, or S150 (S155). Specifically, the CPU 91 refers to data stored that associates the color and type of backup pin 30 and determines the type of backup pin 30 located below the mark camera 70. This data is stored in the storage 94.

[0054] The CPU 91 then determines whether the backup pin 30 is compatible with the current machine (S160). Specifically, it determines whether the type of backup pin 30 identified in S155 matches the type of backup pin 30 compatible with the current machine stored in the storage 94. The CPU 91 makes a negative determination if the two do not match, and a positive determination if they do match. If a negative determination is made in S160, the CPU 91 returns to S120 of this routine and moves the mark camera 70 above another backup pin 30 stocked in the backup pin stocker 35.

[0055] Simply imaging the backup pin 30 and identifying its color in the image may not accurately determine the type of backup pin 30 due to various noises depending on the imaging conditions. However, in the component mounting machine 10, the incident light source 73 and the side light source 75 can each illuminate the backup pin 30 with three primary colors (red, green, and blue). The backup pin 30 is colored with one of the three primary colors (red, green, and blue) or one color obtained by mixing two of these three primary colors (cyan, magenta, and yellow). The component mounting machine 10 also images the backup pin 30 in each state when each primary color light is illuminated on it, obtains the primary color luminance value of the color corresponding to the primary color light illuminated on the backup pin 30 when the image is captured, and identifies the color of the backup pin 30 based on the obtained primary color luminance value. Therefore, the color of the backup pin 30 can be identified more accurately. Thus, the type of backup pin 30 can be identified more accurately according to its color.

[0056] On the other hand, if a positive determination is made in S160, the CPU 91 collects the backup pin 30 (S165). This process is executed as follows. First, the CPU 91 uses the θ-axis actuator 44 to phase-align the picker nozzle 55 so that the gap 58c between the engaged portions 58 (hook portions) of the picker nozzle 55 in the circumferential direction is directly above the engaging portion 34 (protruding portion) of the backup pin 30, and then uses the Z-axis actuator 45 to lower the picker nozzle 55 until the engaging portion 34 enters the gap 58c and passes over the hook tip portion 58a. Then, the CPU 91 uses the θ-axis actuator 44 to phase-align the picker nozzle 55 so that the engaging portion 34 is directly above the hook recess 58b, and then uses the Z-axis actuator 45 to raise the picker nozzle 55. As a result, the backup pin 30 is collected with the engaging portion 34 (protruding portion) fitted into the hook recess 58b of the picker nozzle 55.

[0057] Next, the CPU 91 places the backup pins 30 onto the backup plate 24 according to the layout information obtained in S105 (S170). Then, the CPU 91 determines whether or not the placement of all backup pins 30 is complete (S175). If the determination in S175 is negative, the CPU 91 returns to S120. On the other hand, if the determination in S170 is positive, the CPU 91 controls the base lifting device 38 so that the base 37 descends to its lowest point (S175). After S175, the CPU 91 terminates this routine.

[0058] Here, the correspondence between the main elements of the embodiment and the main elements of the present disclosure as described in the claims will be explained. Specifically, the processing from S125 to S155 of the backup pin placement processing routine corresponds to the backup pin determination method of the present disclosure.

[0059] In the backup pin identification method described above, the color corresponding to the irradiated primary light (red, green, and blue) is identified from each of the following images: image Im1 when illuminated with red light, image Im2 when illuminated with green light, and image Im3 when illuminated with blue light. Therefore, even if these images contain noise, color identification can be performed accurately. Thus, the type of backup pin 30 can be identified more accurately.

[0060] Furthermore, in the backup pin identification method described above, the color may be one of the three primary colors (red, green, and blue) corresponding to each of the three primary light colors (red light, green light, and blue light), or one color obtained by mixing two of the three primary colors (cyan, magenta, and yellow). In this way, the six types of backup pins 30 can be identified relatively easily.

[0061] Furthermore, in the backup pin identification method described above, the primary color luminance values ​​(red luminance R, green luminance G, and blue luminance B) of the three primary colors that are greater by a predetermined value than the lowest primary color luminance value are extracted, the color is identified based on the extracted primary color luminance value, and the type of backup pin 30 is determined based on the identified color. As a result, the color of the backup pin 30 can be easily identified, and therefore the type of backup pin 30 can be easily determined.

[0062] Furthermore, in the backup pin identification method described above, each backup pin 30 has a different color depending on its height H. Therefore, the height H of the backup pin 30 can be identified.

[0063] It goes without saying that this disclosure is not limited in any way to the embodiments described above, and can be implemented in various forms as long as they fall within the technical scope of this disclosure.

[0064] In the embodiment described above, the brightness acquisition processing subroutine sequentially illuminates the LEDs of each color in the incident light source 73 and the side light source 75 to capture an image of the backup pin 30. However, the brightness acquisition processing subroutine may also sequentially illuminate the LEDs of each color in either the incident light source 73 or the side light source 75 to capture an image of the backup pin 30.

[0065] In the embodiment described above, the type of backup pin 30 housed in the backup pin stocker 35 is determined. However, the type of backup pin 30 arranged on the backup plate 24 may also be determined.

[0066] Furthermore, this disclosure is not limited to the form of a component mounting machine, but can also be in the form of a method for housing backup pins.

[0067] Furthermore, this specification also discloses a technical concept in which the "backup pin identification method described in claim 1 or 2" in the original claim 4 has been changed to "backup pin identification method described in any one of claims 1 to 3". [Industrial applicability]

[0068] This disclosure can be used in industries such as the manufacturing of component mounting machines. [Explanation of symbols]

[0069] 10 Component mounting machine, 11 Housing, 12 Feeder, 13 Board transport device, 14 Conveyor belt, 15 Belt drive device, 16 Support column, 17 Support base, 18 Guide rail, 19 Rail moving device, 20 Clamping device, 21 Board holding plate, 22 Clamper, 22a Protrusion, 23 Motor, 24 Backup plate, 24a Through hole, 25 Clamper lifting device, 30 Backup pin, 31 Pin body, 32 Support surface, 33 Permanent magnet, 34 Engaging part, 35 Backup pin stocker, 36 Projection, 37 Base, 38 Base lifting device, 40 Head, 41 Holder, 42 Head body, 43 R-axis actuator, 44 θ-axis actuator, 45 Z-axis actuator, 50 Suction nozzle, 52 Mounting part, 53 Sampling part, 55 Picker nozzle, 56 Mounting part, 57 58 Sampling part, 58 Engaged part, 58a Hook tip, 58b Hook recess, 58c Gap, 60 Head moving device, 61 Y-axis guide rail, 62 Y-axis slider, 63 X-axis guide rail, 64 X-axis slider, 65 X-axis actuator, 66 Y-axis actuator, 70 Mark camera, 71 Light source unit, 72 Housing, 73 Incident light source, 73a Red LED, 73b Green LED, 73c Blue LED, 73d Support plate, 74 Half mirror, 75 Side light source, 75a Red LED, 75b Green LED, 75c Blue LED, 75d Support plate, 76 Diffuser plate, 77 Camera body, 78 Part camera, 79 Nozzle stocker, 90 Control device, 91 CPU, 92 ROM, 93 RAM, 95 Input / output interface, 96 Bus, A Determined area, B Blue brightness, F Side frame, G Green light brightness, H height, Im1 image under red light illumination, Im2 image under green light illumination, Im3 image under blue light illumination, P component, R red light brightness, S substrate.

Claims

1. A backup pin identification method applied to a component mounting machine that mounts components onto a substrate while the substrate is supported from below by backup pins, the machine having a camera capable of capturing a monochrome image of the object and a light source unit capable of irradiating the object with multiple primary color lights, wherein the substrate is supported from below by backup pins. Backup pins, each having a different color depending on the type, are placed in a location where they can be imaged by the camera. Multiple images are acquired by capturing images of the backup pins with the camera in each state when the backup pins are illuminated with each of the multiple primary color lights from the light source unit. From each of the aforementioned multiple images, the primary color luminance value corresponding to the primary color light irradiated when the image was captured is obtained. Based on the acquired multiple primary color luminance values, the color is identified. The type of backup pin is determined based on the identified color. How to identify backup pins.

2. A backup pin identification method according to claim 1, The aforementioned color is one of the multiple primary colors corresponding to each of the multiple primary colors of light, or a single color obtained by mixing two of the multiple primary colors. How to identify backup pins.

3. A backup pin identification method according to claim 1 or 2, From the aforementioned plurality of primary color luminance values, extract those that are greater by a predetermined value than the one with the lowest primary color luminance value. Based on the extracted primary color luminance values, the color is identified. The type of backup pin is determined based on the identified color. How to identify backup pins.

4. A backup pin identification method according to claim 1 or 2, The backup pins have different colors for each height, as defined by the type of backup pin. How to identify backup pins.

Images